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On the Dynamic Analysis of a Novel Snake Robot: Preliminary Results

  • Giuseppe Quaglia
  • Paride Cavallone
  • Basilio LenzoEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 68)

Abstract

In recent years, modular robotics has become of great interest in the robotics community. Among them, snake robots are among the most flexible and versatile type of mobile robots, well-suited to a large number of applications, such as exploration and inspection tasks, participation to search and rescue missions etc. The present paper investigates the design of a novel snake robot, named Rese_Q01, currently being designed at Politecnico di Torino. In order to characterise the dynamic behaviour of the robot, a simple vehicle dynamics model is developed and basic simulations are carried out for a first implementation of a unit consisting of two modules. Preliminary results show the influence of the robot velocity on the trajectory curvature radius, as well as the effect of different ground/tire friction conditions. This analysis is the first step in order to develop effective control strategies for robot trajectories.

Keywords

Mobile robot Vehicle dynamics Snake robot Rese_Q01 

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Giuseppe Quaglia
    • 1
  • Paride Cavallone
    • 1
  • Basilio Lenzo
    • 2
    Email author
  1. 1.Politecnico di TorinoTurinItaly
  2. 2.Sheffield Hallam UniversitySheffieldUK

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